CN107984497A - A kind of transmission device of wheeled robot - Google Patents
A kind of transmission device of wheeled robot Download PDFInfo
- Publication number
- CN107984497A CN107984497A CN201711375530.4A CN201711375530A CN107984497A CN 107984497 A CN107984497 A CN 107984497A CN 201711375530 A CN201711375530 A CN 201711375530A CN 107984497 A CN107984497 A CN 107984497A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- universal joint
- transmission device
- suspension strut
- wheeled robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of transmission device of wheeled robot, including the connected universal joint of the motor reducer assembly on chassis housing and one end, the other end of universal joint is with being equipped with transmission shaft, transmission shaft is fixed through suspension strut, suspension strut is equipped with the flange being fixedly connected with transmission shaft, and set on flange has wheel hub and tire respectively.Using transmission device disclosed by the invention, the power transmission in the case of tire needs to turn to is realized by the connection of universal joint and drive shaft, and wheel hub and tire are installed by the flange in suspension strut.
Description
Technical field
The present invention relates to robot field, more specifically to a kind of transmission device of wheeled robot.
Background technology
At present, the driving form of in the market wheeled robot is connected directly using gear reducer with tire more, no suspension
Design；Its deficiency is：Road environment travels adaptability and chassis passability is poor, not steady enough during travelling, can not
Meet tire bounce and divertical motion requirement.
In conclusion how efficiently solving wheeled robot can not meet that power transmission etc. is asked under divertical motion demand
Topic, is current those skilled in the art's urgent problem.
The content of the invention
In view of this, first purpose of the invention is to provide a kind of transmission device of wheeled robot, to solve to take turns
Formula robot can not meet the problems such as power transmission under divertical motion demand.
In order to achieve the above object, the present invention provides following technical solution：
A kind of transmission device of wheeled robot, including motor reducer assembly on chassis housing and one end and its
The universal joint of connection, with being equipped with transmission shaft, the suspension strut is equipped with consolidates the other end of the universal joint with the transmission shaft
Surely the flange connected, set on the flange has wheel hub and tire respectively.
Preferably, the universal joint is scalable double universal joint.
Preferably, removably fixation connects the universal joint with the transmission shaft and the motor reducer assembly respectively
Connect.
Preferably, the chassis housing is equipped with motor and connected steering link, and the chassis housing is equipped with
It is connected with the steering link, for driving the wheel tyre bead vertical axis to carry out rotating suspension assembly, the rotation of the tire
The center for turning the line between center is overlapped with the center of the chassis housing.
Preferably, the suspension assembly includes the lower swing arm of upper swing arm and setting in parallel, institute on the chassis housing
State and scalable double universal joint is equipped between upper swing arm and the lower swing arm, the upper swing arm, the lower swing arm are respectively with hanging branch
Support is hinged, so that the vertical axis that the suspension strut can be formed along one end of the upper swing arm and the lower swing arm rotates, institute
State suspension strut and be equipped with and be used to tire and the flange being fixedly connected with the scalable double universal joint, the suspension branch are installed
Support is connected with the steering link to drive vertical axis rotation described in lower edge at it.
Preferably, damper is additionally provided with the chassis housing, one end of the damper is fixed with the chassis housing
Connection, the other end are fixedly connected with the lower swing arm.
Preferably, the upper swing arm and the lower swing arm are respectively with the suspension strut through goat's horn bulb hinged.
The transmission device of wheeled robot provided by the invention, including motor reducer assembly on chassis housing and
The connected universal joint in one end, the other end of universal joint is with being equipped with transmission shaft, and transmission shaft is fixed through suspension strut, suspension strut
The flange being fixedly connected with transmission shaft is equipped with, set on flange has wheel hub and tire respectively.Filled using transmission provided by the invention
Put, the power transmission in the case of tire needs to turn to is realized by the connection of universal joint and drive shaft, and pass through suspension strut
On flange installation wheel hub and tire.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structure diagram of the transmission device of wheeled robot provided in an embodiment of the present invention.
Marked in attached drawing as follows：
Motor reducer assembly 1, universal joint 2, transmission shaft 3, flange 4.
Embodiment
The embodiment of the invention discloses a kind of transmission device of wheeled robot, can not meet to turn to solve wheeled robot
Under to motion requirement the problems such as power transmission.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is a kind of structural representation of the transmission device of wheeled robot provided in an embodiment of the present invention
Figure.
In a kind of specific embodiment, the transmission device of wheeled robot provided by the invention, including arranged on chassis
The connected universal joint 2 of motor reducer assembly 1 and one end on housing, the other end of universal joint 2 and is equipped with transmission shaft 3,
Suspension strut is equipped with the flange 4 being fixedly connected with transmission shaft 3, and set on flange 4 has wheel hub and tire respectively.
Chassis housing is removably fixedly connected with motor reducer assembly 1, in order to dismount, one end of universal joint 2 with
Motor reducer assembly 1 is fixedly connected, and the other end is connected with transmission shaft 3, to realize power transmission, transmission shaft 3 can around axis into
Row selection, one end of transmission shaft 3 are fixedly connected with flange 4, and wheel hub and tire are fixed on flange 4, its specific fixed form
Refer to the prior art.
Using transmission device provided by the invention, realized by the connection of universal joint 2 and transmission shaft 3 needs to turn in tire
In the case of power transmission, and wheel hub and tire are installed by flange 4 in suspension strut.
Wherein, universal joint 2 can be specially scalable double universal joint 2.Certainly, in other embodiments, can also be voluntarily
The concrete form of universal joint 2 is set, within the scope of the present invention.
Further, universal joint 2 is removably fixedly connected with transmission shaft 3 and motor reducer assembly 1 respectively, can such as be led to
Threaded connection etc. is crossed, in order to dismount, fixed form can be voluntarily set, and details are not described herein.
Chassis housing is equipped with motor and connected steering link, chassis housing be equipped be connected with steering link,
Rotating suspension assembly is carried out for driven wheel tyre bead vertical axis, the center of the line between the pivot of tire and chassis shell
The center of body overlaps.
Motor is generally fixedly connected with steering link, to drive it flexible and then drive steering link tire on the drive wheels along vertically
Axis is rotated, wherein, tire is fixed by suspension assembly, and is equipped with vertical rotary shaft, in order to ensure wheel type machine
People can be rotated along itself pivot, the center and chassis of the line of the floor projection of the vertical rotary shaft of four tires
The center of housing overlaps.
Using wheeled robot provided by the invention, steering link is driven by motor to drive tire to realize steering,
And the center of the line of the pivot of tire is overlapped with the center of chassis housing, so that wheeled robot can be along itself axis
Line is rotated.
Specifically, suspension assembly includes upper swing arm and the lower swing arm of setting in parallel, upper swing arm is with on chassis housing
Scalable double universal joint 2 is equipped between swing arm, upper swing arm, lower swing arm are hinged with suspension strut respectively, so that suspension strut can edge
The vertical axis rotation that one end of upper swing arm and lower swing arm is formed, suspension strut be equipped be used to installing tire and with it is scalable double
The flange 4 that connection universal joint 2 is fixedly connected, suspension strut are connected with steering link to be rotated under its drive along vertical axis.
Including chassis housing, chassis housing is equipped with the lower swing arm of upper swing arm and setting in parallel, on chassis housing on
It is equipped with scalable double universal joint 2 between swing arm and lower swing arm, upper swing arm, lower swing arm and is hinged respectively with suspension strut, so that outstanding
Hang support can along one end of upper swing arm and lower swing arm formed vertical axis rotate, suspension strut be equipped be used for install tire and
The flange 4 being fixedly connected with scalable double universal joint 2, suspension strut be connected with steering link with its drive along vertical axes
Line rotates.
Upper swing arm and lower swing arm are fixedly connected with chassis housing respectively, are preferably removably fixedly connected, and upper swing arm is with
Swing arm is arranged in parallel, and the one end of upper swing arm and lower swing arm away from chassis housing is hinged with suspension strut respectively, and forms vertical axes,
Suspension strut is rotated along vertical axes, to realize the steering of tire.Scalable duplex ten thousand is equipped between upper swing arm and lower swing arm
To section 2, it is fixedly connected with motor reducer assembly 1, and one end of scalable double universal joint 2 is equipped with transmission shaft 3, flange 4 and
Transmission shaft 3 is fixedly connected.One end of steering link is connected with motor, and the other end is fixedly connected with suspension strut, with its drive
Down so that suspension strut is rotated along vertical axis.
Tire and wheel hub can be arranged on flange 4, and to realize fixation, suspension branch is adjusted by adjusting the length of steering link
The rotation angle of support, so that it meets the divertical motion requirement of wheeled robot.
Using base apparatus provided by the invention, upper swing arm and lower swing arm are hinged with suspension strut respectively so that suspension branch
Support can connect the vertical axis to be formed rotation along upper swing arm with lower swing arm, realize the rotation of suspension strut, and then meet tire
Divertical motion demand.
Specifically, being additionally provided with damper on chassis housing, one end of damper is fixedly connected with chassis housing, the other end with
Lower swing arm is fixedly connected.Lower swing arm is fixedly connected with suspension strut and damper respectively, and the vibration of tire is transferred to by lower swing arm
Damper, to realize damping, ensures the bounce requirement of tire.Its specific structure and connection relation refer to the prior art,
Within the scope of the present invention.
Further, upper swing arm and lower swing arm are respectively with suspension strut through goat's horn bulb hinged.Certainly, in other embodiment
In, suitable articulated manner can also be selected as needed, and details are not described herein.
Specifically, suspension strut is removably fixedly connected with steering link.Preferably screw etc. is fixedly connected, and is thus set
Put, with easy disassembly.
In a kind of specific embodiment, upper swing arm and removably it is fixedly connected between chassis housing.Preferably through spiral shell
Bolt is fixedly connected.
In a kind of specific embodiment, when robot keeps straight on, four-wheel is parallel with direction of advance, if any deviation straight line rail
Road, can be adjusted by the differential of left and right wheels, make to travel, it is necessary to when turning to by predetermined rectilinear orbit, robot first stops
Get off, the thrust that push-rod electric machine produces allows tire to rotate by a certain angle (setting value is 45 °), the axis of its four-wheel is intersected at original
Point, at this time robot can realize that 360 ° rotate in place at any angle.
Push-rod electric machine is fixed on chassis housing, and the both ends of push-rod electric machine use oscillating bearing, and spin-ended bearing connects steering
Bar and push-rod electric machine link together, and one end of steering link is connected with suspension strut, and suspension strut can be in goat's horn bulb
Heart point is rotated.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there are other identical element in the process, method, article or apparatus that includes the element.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (7)
1. a kind of transmission device of wheeled robot, it is characterised in that including the motor reducer assembly on chassis housing
With the connected universal joint in one end, the other end of the universal joint is with being equipped with transmission shaft, and the suspension strut is equipped with and institute
The flange that transmission shaft is fixedly connected is stated, set on the flange has wheel hub and tire respectively.
2. the transmission device of wheeled robot according to claim 1, it is characterised in that the universal joint is scalable double
Join universal joint.
3. the transmission device of wheeled robot according to claim 2, it is characterised in that the universal joint respectively with it is described
Transmission shaft is removably fixedly connected with the motor reducer assembly.
4. the transmission device of wheeled robot according to claim 3, it is characterised in that the chassis housing is equipped with electricity
Machine and connected steering link, the chassis housing are equipped with and are connected with the steering link, for driving the tire
Rotating suspension assembly is carried out along vertical axis, the center of the line between the pivot of the tire and the chassis housing
Center overlaps.
5. the transmission device of wheeled robot according to claim 4, it is characterised in that the suspension assembly includes upper pendulum
Arm and the lower swing arm of setting in parallel, are equipped with scalable duplex on the chassis housing between the upper swing arm and the lower swing arm
Universal joint, the upper swing arm, the lower swing arm are hinged with suspension strut respectively, so that the suspension strut can be along the upper swing arm
The vertical axis rotation formed with one end of the lower swing arm, the suspension strut be equipped be used to installing tire and with it is described can
The flange that flexible double universal joint is fixedly connected, the suspension strut are connected with the steering link to be driven at it described in lower edge
Vertical axis rotates.
6. the transmission device of wheeled robot according to claim 5, it is characterised in that be additionally provided with the chassis housing
Damper, one end of the damper are fixedly connected with the chassis housing, and the other end is fixedly connected with the lower swing arm.
7. the transmission device of wheeled robot according to claim 6, it is characterised in that the upper swing arm and the bottom
Arm is respectively with the suspension strut through goat's horn bulb hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711375530.4A CN107984497A (en) | 2017-12-19 | 2017-12-19 | A kind of transmission device of wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711375530.4A CN107984497A (en) | 2017-12-19 | 2017-12-19 | A kind of transmission device of wheeled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107984497A true CN107984497A (en) | 2018-05-04 |
Family
ID=62039152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711375530.4A Pending CN107984497A (en) | 2017-12-19 | 2017-12-19 | A kind of transmission device of wheeled robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107984497A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113306625A (en) * | 2021-07-09 | 2021-08-27 | 浙江博城机器人科技有限公司 | Chassis differential system of dividing and refining robot |
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|---|---|---|---|---|
| US5074581A (en) * | 1989-05-19 | 1991-12-24 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle suspension system using a rotary dampen |
| CN2501714Y (en) * | 2001-09-27 | 2002-07-24 | 山东黑豹集团有限公司 | Transmission device of electric vehicle |
| CN1709759A (en) * | 2005-06-24 | 2005-12-21 | 中国航天科技集团公司第一研究院第十五研究所 | Automobile driving axle wheels set |
| CN101648516A (en) * | 2008-08-15 | 2010-02-17 | 中国第一汽车集团公司 | Steering drive axle with independent suspension and single cross axle wheel-side transmission |
| CN103072627A (en) * | 2013-01-23 | 2013-05-01 | 中国农业大学 | Electric chassis with four independent turning wheels |
| CN203637489U (en) * | 2013-11-01 | 2014-06-11 | 北京航天发射技术研究所 | Independent suspension steering drive axle and automobile |
| CN104960409A (en) * | 2015-05-28 | 2015-10-07 | 东南大学 | Integrated wheel edge driving system equipped with unequal-length double transverse arm suspending frame and capable of reducing unsprung mass |
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
| CN106739892A (en) * | 2015-11-21 | 2017-05-31 | 哈尔滨格泰科技有限公司 | A kind of family expenses supervisory-controlled robot based on wifi network |
| CN206703872U (en) * | 2017-03-27 | 2017-12-05 | 深圳大学 | A kind of omni-directional moving platform with independent wheel suspension |
-
2017
- 2017-12-19 CN CN201711375530.4A patent/CN107984497A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5074581A (en) * | 1989-05-19 | 1991-12-24 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle suspension system using a rotary dampen |
| CN2501714Y (en) * | 2001-09-27 | 2002-07-24 | 山东黑豹集团有限公司 | Transmission device of electric vehicle |
| CN1709759A (en) * | 2005-06-24 | 2005-12-21 | 中国航天科技集团公司第一研究院第十五研究所 | Automobile driving axle wheels set |
| CN101648516A (en) * | 2008-08-15 | 2010-02-17 | 中国第一汽车集团公司 | Steering drive axle with independent suspension and single cross axle wheel-side transmission |
| CN103072627A (en) * | 2013-01-23 | 2013-05-01 | 中国农业大学 | Electric chassis with four independent turning wheels |
| CN203637489U (en) * | 2013-11-01 | 2014-06-11 | 北京航天发射技术研究所 | Independent suspension steering drive axle and automobile |
| CN104960409A (en) * | 2015-05-28 | 2015-10-07 | 东南大学 | Integrated wheel edge driving system equipped with unequal-length double transverse arm suspending frame and capable of reducing unsprung mass |
| CN106739892A (en) * | 2015-11-21 | 2017-05-31 | 哈尔滨格泰科技有限公司 | A kind of family expenses supervisory-controlled robot based on wifi network |
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
| CN206703872U (en) * | 2017-03-27 | 2017-12-05 | 深圳大学 | A kind of omni-directional moving platform with independent wheel suspension |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113306625A (en) * | 2021-07-09 | 2021-08-27 | 浙江博城机器人科技有限公司 | Chassis differential system of dividing and refining robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180504 |